ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact

Moritz Geilinger
Moritz Geilinger
David Hahn
David Hahn
Jonas Zehnder
Jonas Zehnder
Moritz Bächer
Moritz Bächer

ACM Transactions on Graphics, pp. 1-15, 2020.

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Keywords:
contact mechanicsdeformable modelsdifferentiable simulationoptimizationrigid-body dynamicsMore(1+)

Abstract:

We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method circumvents the main difficulties inherent to the non-smooth nature of frictional contact. We combine this...More

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